#ifndef __MAHONYAHRS_H
#define __MAHONYAHRS_H


#include "bmi008.h"
#include <math.h>
#include "ak09915.h"
float invSqrt(float x);
void Attitude_MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
void MahonyAHRS_GetQuaternion(float *Q);
#endif


